| 摘要 |
A servo control apparatus controls an object according to a target position signal and a detected position signal and drives the object according to a drive torque signal. The servo control apparatus includes an observer receptive of the drive torque signal and the detected position signal which determines an estimated disturbance torque in response thereto. A function unit produces an error command signal dependent on the estimated disturbance torque. The error command signal is successively subtracted from the target position signal to set a temporary position signal which is effective to impart a mechanical compliance to the control object.
|
